CN103028816B - The welding method of the welder of structure based light binocular vision sensing - Google Patents
The welding method of the welder of structure based light binocular vision sensing Download PDFInfo
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- CN103028816B CN103028816B CN201210568670.4A CN201210568670A CN103028816B CN 103028816 B CN103028816 B CN 103028816B CN 201210568670 A CN201210568670 A CN 201210568670A CN 103028816 B CN103028816 B CN 103028816B
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Abstract
A welding method for the welder of structure based light binocular vision sensing, this welder comprises: mounting bracket; Structured light device, positions for the center for the treatment of welding tube sheet pattern, and is movably arranged on mounting bracket; Data storage cell, for the positional information of the tube sheet pattern to be welded that storage organization optical transmitting set obtains; Binocular vision system, has the First look device and the second sighting device that are movably arranged on structured light device both sides respectively; Automatic soldering device; And kinetic control system, for controlling the three-degree-of-freedom motion of automatic soldering device when treating welding tube sheet pattern and welding.The welder that the present invention is based on structured light binocular visual sensing adopts binocular vision system, and in conjunction with space circle recognizer, the center of the to be welded tube sheet pattern of identifiable design within the scope of certain inclination angle, realization character point identifies fast, accurately, and improve image processing speed, greatly increase system pore locating speed.
Description
Technical field
The present invention relates to welding technology field, particularly relate to a kind of welding method of welder of structure based light binocular vision sensing.
Background technology
In the heat exchange of the industries such as chemical industry, power station, boiler manufactures, there is the weld task between a large amount of pipes and plate.This welding difficulty is large, and quality requirement is high, and workload is large.At present, at home on market, tube-plate welding equipment is generally semi-automatic welding mode, must adopt artificial hand torch, manually to hole, and hand inspection welding quality.Under intensive work, requisite subject welds arc light radiation, and smog pollution, has a strong impact on workers ' health.So the development of solder technology is the problem that those skilled in the art pay close attention to always.
Chinese patent CN201076976Y discloses a kind of coaxial tube plate welding equipment, described Tube-sheet Welding equipment comprises welding gun, frame, electric control system, welding gun is arranged in frame, frame is connected to form to support, vertical axial support by horizontal axis support, antero posterior axis, electric control system is arranged on one end of vertical axial support, welding gun is arranged on antero posterior axis on support, welding gun is provided with camera, and the centre of gyration line conllinear of the optical centreline of camera and welding torch, arc length system can be established between welding torch and welding gun.The image information captured by camera thus and frame, coordination between transposition frame and arc length system, realize coaxial tube plate welding.But the technical scheme disclosed by described patent all needs artificial vision to identify in each welding, identifying length consuming time, complex operation.Meanwhile, before welding, need the level adjusting tube sheet, to guarantee that tube sheet is parallel with welding system X-Y coordinate plane, otherwise pore location recognition precision cannot ensure, and the usual specification of tube sheet is large, quality weight, horizontal adjustment relative difficulty.
Therefore for prior art Problems existing, this case designer is by means of being engaged in the industry experience for many years, and active research improves, so there has been the welder of a kind of structure based light of the present invention binocular vision sensing.
Summary of the invention
The present invention be directed in prior art, traditional welder needs artificial vision to identify, identifying length consuming time, complex operation, large to health threat, and the defects such as horizontal adjustment relative difficulty provide a kind of welder of structure based light binocular vision sensing.
Another object of the present invention is the defect for prior art, provides a kind of welding method of welder of structure based light binocular vision sensing.
In order to solve the problem, the invention provides a kind of welder of structure based light binocular vision sensing, the welder of described structure based light binocular vision sensing comprises: mounting bracket, and described mounting bracket is for installing the welder of structure based light binocular vision sensing; Structured light device, for positioning the center of described tube sheet pattern to be welded, and is movably arranged on described mounting bracket; Data storage cell, the positional information of to be welded tube sheet pattern of described data storage cell for storing described structured light device and obtaining; Binocular vision system, described binocular vision system has the First look device and the second sighting device that are movably arranged on described structured light device both sides respectively; Automatic soldering device, described automatic soldering device carries out Tube-sheet Welding according to the position of the tube sheet pattern to be welded that described data storage cell stores; And kinetic control system, described kinetic control system is for controlling the three-degree-of-freedom motion of described automatic soldering device when welding described welding tube sheet pattern.
Optionally, described structured light device is generating laser.
Optionally, described First look device and described second sighting device are camera.
For realizing the another object of the present invention, the invention provides a kind of welding method of welder of structure based light binocular vision sensing, comprising:
Perform step S1: described structured light device launches non-coincidence and uneven first structured light and the second structured light, described first structured light and described tube sheet pattern to be welded have the first intersection point and the second intersection point, and described second structured light and described tube sheet pattern to be welded have the 3rd intersection point and the 4th intersection point;
Perform step S2: the intersection point defining the perpendicular bisector of the first chord length be made up of described first intersection point and described second intersection point and the second chord length be made up of described 3rd intersection point and the 4th intersection point is the center of described tube sheet pattern to be welded;
Perform step S3: repeat step S2, obtain the center of different tube sheet pattern to be welded, and the center of described tube sheet pattern to be welded is stored in described data storage cell;
Perform step S4: automatic soldering device is under the control of described kinetic control system, and the position of the tube sheet pattern to be welded stored according to described data storage cell is welded.
In sum, the welder that the present invention is based on structured light binocular visual sensing adopts binocular vision system, and in conjunction with space circle recognizer, the center of the to be welded tube sheet pattern of identifiable design within the scope of certain inclination angle, and do not need to carry out accurate degree adjustment to workpiece, realization character point fast, accurately identifies; In addition, the positional information of described data storage cell storage organization optical scanning characteristic point, improves image processing speed, greatly increases system pore locating speed.
Accompanying drawing explanation
Figure 1 shows that the structural representation of the welder that the present invention is based on structured light binocular visual sensing;
Figure 2 shows that the tube sheet pattern positioning principle schematic diagram to be welded of the welder that the present invention is based on structured light binocular visual sensing.
Detailed description of the invention
By describe in detail the invention technology contents, structural feature, reached object and effect, coordinate accompanying drawing to be described in detail below in conjunction with embodiment.
Refer to Fig. 1, and Fig. 2 is consulted in combination, Figure 1 shows that the structural representation of the welder that the present invention is based on structured light binocular visual sensing.Figure 2 shows that the tube sheet pattern positioning principle schematic diagram to be welded of the welder that the present invention is based on structured light binocular visual sensing.The welder 1 of described structure based light binocular vision sensing comprises mounting bracket 11, and described mounting bracket 11 is for installing the welder 1 of described structure based light binocular vision sensing; Structured light device 12, described structured light device 12 is generating laser, for positioning the center of described tube sheet pattern 2 to be welded, and is movably arranged on described mounting bracket 11; Data storage cell (not shown), the positional information of to be welded tube sheet pattern 2 of described data storage cell for storing described structured light device 12 and obtaining; Binocular vision system 13, described binocular vision system 13 has the First look device 131 and the second sighting device 132 that are movably arranged on described structured light device 12 both sides respectively; Automatic soldering device 14, described automatic soldering device 14 carries out Tube-sheet Welding according to the position of the tube sheet pattern 2 to be welded that described data storage cell stores; And kinetic control system 15, described kinetic control system 15 is for controlling the three-degree-of-freedom motion of described automatic soldering device 14 when welding described welding tube sheet pattern 2.
As the specific embodiment of the present invention, nonrestrictively to enumerate, described First look device 131 and described second sighting device 132 are camera.Described structured light device 12 is movably arranged on described mounting bracket 11, and can realize the change of the anglec of rotation, to identify the position of the tube sheet pattern 2 to be welded had within the scope of certain inclination angle.
Please continue to refer to Fig. 1, and combination consults Fig. 2, the schematic diagram positioned described tube sheet pattern to be welded for structured light device described in Fig. 2.Described structured light device positions described tube sheet pattern to be welded and comprises the following steps:
Perform step S1: non-coincidence and uneven first structured light 121 and the second structured light 122 launched by described structured light device 12, described first structured light 121 has the first intersection point 123 and the second intersection point 124 with described tube sheet pattern 2 to be welded, and described second structured light 122 has the 3rd intersection point 125 and the 4th intersection point 126 with described tube sheet pattern 2 to be welded;
Perform step S2: the intersection point defining the perpendicular bisector of the first chord length be made up of described first intersection point 123 and described second intersection point 124 and the second chord length be made up of described 3rd intersection point 125 and the 4th intersection point 126 is the center of described tube sheet pattern 2 to be welded;
Perform step S3: repeat step S2, obtain the center of different tube sheet pattern 2 to be welded, and the center of described tube sheet pattern 2 to be welded is stored in described data storage cell;
Perform step S4: automatic soldering device 14 is under the control of described kinetic control system 15, and the position of the tube sheet pattern 2 to be welded stored according to described data storage cell is welded.
In sum, the welder that the present invention is based on structured light binocular visual sensing adopts binocular vision system, and in conjunction with space circle recognizer, the center of the to be welded tube sheet pattern of identifiable design within the scope of certain inclination angle, and do not need to carry out accurate degree adjustment to workpiece, realization character point fast, accurately identifies; In addition, the positional information of described data storage cell storage organization optical scanning characteristic point, improves image processing speed, greatly increases system pore locating speed.
Those skilled in the art all should be appreciated that, without departing from the spirit or scope of the present invention, can carry out various modifications and variations to the present invention.Thus, if when any amendment or modification fall in the protection domain of appended claims and equivalent, think that these amendment and modification are contained in the present invention.
Claims (3)
1. a welding method for the welder of structure based light binocular vision sensing,
The welder of described structure based light binocular vision sensing comprises:
Mounting bracket, described mounting bracket is for installing the welder of structure based light binocular vision sensing;
Structured light device, positions for the center for the treatment of welding tube sheet pattern, and is movably arranged on described mounting bracket;
Data storage cell, the positional information of to be welded tube sheet pattern of described data storage cell for storing described structured light device and obtaining;
Binocular vision system, described binocular vision system has the First look device and the second sighting device that are movably arranged on described structured light device both sides respectively;
Automatic soldering device, described automatic soldering device carries out Tube-sheet Welding according to the position of the tube sheet pattern to be welded that described data storage cell stores; And,
Kinetic control system, described kinetic control system for controlling the three-degree-of-freedom motion of described automatic soldering device when welding described tube sheet pattern to be welded,
It is characterized in that, described method comprises:
Perform step S1: described structured light device launches non-coincidence and uneven first structured light and the second structured light, described first structured light and described tube sheet pattern to be welded have the first intersection point and the second intersection point, and described second structured light and described tube sheet pattern to be welded have the 3rd intersection point and the 4th intersection point;
Perform step S2: the intersection point defining the perpendicular bisector of the first chord length be made up of described first intersection point and described second intersection point and the second chord length be made up of described 3rd intersection point and the 4th intersection point is the center of described tube sheet pattern to be welded;
Perform step S3: repeat step S2, obtain the center of different tube sheet pattern to be welded, and the center of described tube sheet pattern to be welded is stored in described data storage cell;
Perform step S4: automatic soldering device is under the control of described kinetic control system, and the position of the tube sheet pattern to be welded stored according to described data storage cell is welded.
2. the welding method of the welder of structure based light binocular vision sensing as claimed in claim 1, it is characterized in that, described structured light device is generating laser.
3. the welding method of the welder of structure based light binocular vision sensing as claimed in claim 1, it is characterized in that, described First look device and described second sighting device are camera.
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| CN201210568670.4A CN103028816B (en) | 2012-12-24 | 2012-12-24 | The welding method of the welder of structure based light binocular vision sensing |
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| CN104117765A (en) * | 2013-04-27 | 2014-10-29 | 天津铜人数控设备制造有限公司 | Special radiator welding robot under artificial vision guiding |
| CN103273171B (en) * | 2013-05-24 | 2015-06-03 | 华南理工大学 | Visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding |
| CN104197926B (en) * | 2014-08-06 | 2017-08-11 | 北京信息科技大学 | A kind of robot navigation device of use active vision mode |
| CN104296657B (en) * | 2014-10-11 | 2016-09-07 | 三峡大学 | The detection of a kind of cliff blast hole based on binocular vision and positioner and localization method |
| CN104296658B (en) * | 2014-10-11 | 2016-09-07 | 三峡大学 | The detection of a kind of cliff blast hole based on virtual binocular vision and positioner and localization method |
| CN107150183B (en) * | 2017-05-19 | 2020-02-14 | 哈尔滨焊接研究院有限公司 | Full-automatic detection and welding method for tube and tube plate |
| CN109175814A (en) * | 2018-10-31 | 2019-01-11 | 昆山华恒焊接股份有限公司 | Welding method, device and computer readable storage medium |
| CN110702035A (en) * | 2019-10-25 | 2020-01-17 | 四川大学青岛研究院 | Household appliance spraying quality detection system and method based on surface structured light |
| CN111906767A (en) * | 2020-07-03 | 2020-11-10 | 深圳了然视觉科技有限公司 | Vision rectification mechanical arm based on binocular structured light and rectification method |
| CN115283792B (en) * | 2022-08-30 | 2023-07-18 | 德西瑞莱(成都)科技有限公司 | Submerged arc welding workstation of arc tracking robot |
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| CN1511669A (en) * | 2002-12-27 | 2004-07-14 | 中国科学院自动化研究所 | Arc welding robot control platform with visual welding seam automatic tracing function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| AT406460B (en) * | 1997-02-06 | 2000-05-25 | Fronius Schweissmasch | WELDING SYSTEM AND METHOD FOR DETERMINING THE WELDING PARAMETERS FOR A WELDING CURRENT SOURCE |
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Patent Citations (4)
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| CN1511669A (en) * | 2002-12-27 | 2004-07-14 | 中国科学院自动化研究所 | Arc welding robot control platform with visual welding seam automatic tracing function |
| CN101387501A (en) * | 2008-10-06 | 2009-03-18 | 天津大学 | Ultra-large workpiece circular section shape and azimuthal measurement apparatus and method |
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